CCSD3ZF0000100000001NJPL3IF0PDS200000001 = SFDU_LABEL RECORD_TYPE = STREAM SPACECRAFT_NAME = "GALILEO ORBITER" OBJECT = TEXT NOTE = "GALILEO REDR CD-ROM" END_OBJECT END Galileo REDR CD-ROM 1. Introduction This data set has been generated by NASA's Galileo Project in order to distribute the images acquired by the Solid State Imaging (SSI) camera to the scientists and later to the Planetary Data System (PDS). The collection consists of all images acquired by the Galileo spacecraft since its launch in 1989. Included are images of Venus, the Earth's Moon and the Earth taken during the 1990 encounters, as well as additional star, calibration and other test data. This Galileo data set resides on a series of CD-ROM volumes and includes one disc of ancillary information. The Galileo SSI camera acquires data in a digital raster-format containing 800 scan lines and 800 samples per scan line. Each picture element (pixel) in the two dimensional image array is represented as an 8-bit value between 0 and 255, proportional to the amount of light detected at that point (with 0 being the least amount of light and 255 being the greatest amount of light). The camera is equipped with seven color filters and a clear filter such that images taken through complementary filters can be combined during ground processing to produce color images. To make full scientific use of the image collection, the radiometric and geometric properties of the camera system should be understood. All of the images in this collection are in the REDR file format described in section 4. The original telemetry data has been processed into raster-formatted files. Multiple versions of the files, derived from separate downlinks or playbacks, have been merged together into a file of the best data. The merged data has been processed according to the SSI Imaging Team specifications defined in VOLINFO.TXT. The ancillary disc, GO_0001, provides detailed documentation. This disc contains the most recent information including: a collection of scientific papers, articles, PDS Catalog Templates, a volume information description file, VOLINFO.TXT, and other information necessary for the understanding of images produced by the SSI camera. Each of the remaining volumes contain approximately 800 images stored as VICAR files. A detached PDS label has been included for each image. Documentation files have been provided which inform the user about the organization and contents of each disc, and the definition of the labels. An index file has also been provided which contains information about the images in the data set. All PDS label formats and documentation are based on the Planetary Data System Data Preparation Workbook (D-7669, May 1991) and the Planetary Science Data Dictionary (D-7116, Rev. B, May 1991). The brief description of PDS label is described in the PDSLABEL.TXT file. The VICAR label is described in the VICAR2.TXT file. Both text files are located in the DOCUMENT directory. 2. Disc Format Each CD-ROM disc has been formatted such that a variety of computer systems (e.g. IBM PC, Macintosh, Sun, VAX) may access the data. Specifically, the discs are formatted according to the ISO 9660 level 1 Interchange Standard, and file attributes are specified by Extended Attribute Records (XARs). For computer software that fully supports XARs, access to the CD-ROM volume will be straightforward; the disc will appear to the user to be identical to a file system of directories, subdirectories and data files. Some computer systems that do not support XARs will ignore them; others will append the XAR to the beginning of the file, in which case the user must read past the first 512 bytes of the file. For further information, refer to the ISO 9660 Standard Document: RF# ISO 9660-1998, 15 April 1988. 3. CD-ROM Contents The files on this CD-ROM are organized in one top-level directory with several subdirectories. The following table shows the structure and contents of these directories. In the table, directory names are enclosed in square brackets ([]), upper-case letters indicate an actual directory or filename and lower-case letters indicate the general form of the directory file names. More complete documentation is available on GO_0001. Top-level directory | |-AAREADME.TXT - A text file containing general information. | |-VOLDESC.SFD - Brief description of the contents of this CD-ROM volume. | |-[DOCUMENT] - Directory containing text files which describes the GLL | | Mission, Instruments, Processing and Data Products. | | | |- BADDATA.TXT - Describes the binary Bad-Data Value header. | | | |- CATSTATUS.TXT - Describes status of SPICE info in labels. | | | |- VICAR2.TXT - Describes the VICAR2 image label. | | | |- PDSLABEL.TXT - Describes the PDS label format. | |-[INDEX] - Directory containing an index file for searching for | | specific images. | | | |- IMGINDEX.TAB - A tabular file describing basic information about | | each image. | | | |- IMGINDEX.LBL - A detached PDS label describing the contents of index | | table. | |-[LABEL] - Directory containing image engineering information. | | | |- RTLMTAB.FMT - A PDS format describing the binary telemetry label for | | the REDR. | | | |- RLINEPRX.FMT - A PDS format describing the binary line prefix | | information for the REDR. | |-[xxxxxxxx] - The image data files are arranged into directories based on | the predicted target of each image. The targets for this | data set include: VENUS, EARTH, MOON, RAW_CAL. The files | are further divided into subdirectories based on the | spacecraft clock of each image. | |- [Crrrrrr] - These subdirectories have names of the form Crrrrrr | where C indicates a spacecraft clock count follows, | rrrrrr is the first 6 of 8 digits of the RIM count | of the image files. Example: C006104 | |- rrmmR.IMG;1 - Each image data file has a unique name based | on the last 2 digits of the image file | RIM count appended with the MOD 91 count. | The R specifies the image is in a REDR format. | IMG specifies the file is the VICAR image | file. Example: 0145R.IMG;1 | |- rrmmR.LBL;1 - The file containing the detached PDS label for | the image data file with the same name. 4. Formats There are two types of experiment data records which may be produced by MIPS (Multimission Image Processing Subsystem) for the Galileo SSI Team: the EDR (Experiment Data Record) and the REDR (Raw Experiment Data Record). For the purpose of this data set, only REDR data is included. However, both file formats will be briefly described. See the SSI Experiment Data Record Software Interface Specification or the SSI Raw Experiment Data Record Software Interface Specification located on the volume GO_0001. Both the EDR and the REDR are generated by MIPS using procedures specifically developed or adapted for Galileo. The files are generated on a VAX and are written in VAX compatible (LSByte first) format. REDR FILE FORMAT ------------------ The Galileo REDR format is generally reserved for SSI calibration data or data which should not be radiometrically corrected. Due to special circumstances, the SSI Team has specifically requested that the Venus and Earth I data be distributed to them as REDR data only. Figure 1: REDR File Format Diagram ------------------------------------------------------------------------- | VICAR LABEL | | | ------------------------------------------------------------------------- | BINARY HEADER | | (Telemetry header record & Bad-Data Value Header Records) | | | ------------------------------------------------------------------------- | | | | | | | BINARY | IMAGE DATA | | PREFIX | (Pixels) | | (Line Header) | 800 or 400 bytes per line | | 200 bytes per line | 800 or 400 line records | | 800 or 400 line | | | records | | ------------------------------------------------------------------------- Each REDR file consist of a VICAR label, the telemetry header, the bad-data value header records (if there are any), and the Image Data which is preceded by a Binary Prefix. There are 800 line records of image data. All records are fixed length. The line record length is 1000 bytes; 200 bytes of a binary line prefix and 800 bytes of 8 bit pixel data. (Note, for the AI8 format or summation mode, the record length is still 1000, but the data is placed in the first 400 pixel samples and 400 lines only.) There will be a one-to-one correspondence between line records and image lines. Data not received will be zero-filled. The BINARY HEADER is composed of a Telemetry header and a Bad-Data Value Header containing ancillary information specific to the image. The TELEMETRY HEADER is split into two physical records. The first 1000 bytes are placed in the first physical record after the VICAR label, and the last 800 bytes are placed in the next physical record. The last 200 bytes are zero filled. The BAD-DATA VALUE HEADER is composed of records describing several types of bad data values. Each record describes only one type and depending on the number of bad pixels, they may span over several physical records. Each record is identified by the Record IDS field which is located at byte 0. See the REDR Software Interface Specification (SIS) (D-232-12; M. White; 30 October 1991) for a further description of the REDR format located on GO_0001. Also see the VICAR2.TXT, BADDATA.TXT and CATSTATUS.TXT files located in the DOCUMENT directory. EDR FILE FORMAT ----------------- The Galileo EDR format consists of data which has been radiometrically corrected. No EDR data will be distributed for the Venus and Earth I data. Figure 2: EDR File Format Diagram ------------------------------------------------------------------------- | VICAR LABEL | | | ------------------------------------------------------------------------- | BINARY HEADER | | (Telemetry header record & Bad-Data Value Header Records) | | | ------------------------------------------------------------------------- | | | | | | | BINARY | IMAGE DATA | | PREFIX | (Pixels) | | (Line Header) | 800 or 400 bytes per line | | 200 bytes per line | 800 or 400 line records | | 800 or 400 line | | | records | | ------------------------------------------------------------------------- Each EDR file consists of a VICAR label, the telemetry header, the bad-data value header records (if there are any), and the Image Data which is preceded by a Binary Prefix. All records are fixed length within each EDR file, but their length depends on the telemetry format. There are 800 line records and each record length is 1800 bytes for an 800 pixel line. Each line record contains 200 bytes of line header information and 800 samples of 16 bit pixel information. Note, for the AI8 format or summation mode, the record length is 1000 with 200 bytes of line header information and 400 samples of 16 bit pixel information. There will be a one-to-one correspondence between line records and image lines. Data not received will be zero-filled. The BINARY HEADER is composed of a Telemetry header and a Bad-Data Value Header containing ancillary information specific to the image. The TELEMETRY HEADER is in one physical record for full frame mode and is split into two physical records for the summation mode with the first 1000 bytes placed in first physical record after the VICAR label, and the last 800 bytes placed in the next physical record. The last 200 bytes are zero filled. The BAD-DATA VALUE HEADER is composed of records describing several types of bad data values. Each record describes only one type and depending on the number of bad pixels, they may span several physical records. Each record is identified by the Record IDS field which is located at byte 0. SEE the EDR Software Interface Specification (SIS) (D-232-07; M. White; 30 October 1991) for a more detailed description located volume GO_0001. 5. Text Files, PDS Labels, and Tabular Files All document files and detached label files contain a carriage return character (ASCII 13) and a line feed character (ASCII 10) at the end of each record. This allows the files to be read by the MacOS, DOS, Unix, and VMS operating systems. Tabular files are also described by a detached PDS label. The PDS label file has the same name as the data file it describes, with the extension .LBL; for example, the file IMGINDEX.TAB is accompanied by the detached label file IMGINDEX.LBL in the same directory. The detached PDS labels for REDR images contain information pertaining to the image. Tabular files are formatted so that they may be read directly into many database management systems on various computers. All fields are separated by commas, and character fields are enclosed in double quotation marks ("). Character fields are left justified, and numeric fields are right justified. The "start byte" and "bytes" values listed in the labels do not include the commas between fields or the quotation marks surrounding character fields. The records are of fixed length, and the last two bytes of each record contain the ASCII carriage return and line feed characters. This allows a table to be treated as a fixed length record file on computers that support this file type and as a normal text file on other computers. 6. Recommended CD-ROM Drives and Driver Software The following drives and driver software were successfully tested using the Galileo data. Note that the following list is not inclusive. VAX/VMS Drive: Digital Equipment Corporation (DEC) RRD40, RRD42, or RRD50. Driver: DEC VFS CD-ROM driver V4.7 or V5.2 and up. Note: The driver software may be obtained from Jason Hyon at JPL (Files are: JPLPDS::DISK$USER1:[JHYON]VFS*.A). It is necessary to use this driver to access the XARs on the CD-ROM. VAX/Ultrix Drive: DEC RRD40, RRD42, or RRD50. Driver: Supplied with Ultrix 3.1. Note: Use the "cdio" software package (in "~ftp/src/cdio.shar" from the "space.mit.edu" server). IBM PC Drive: Toshiba, Hitachi, Sony, or compatible. Driver: Microsoft MSCDEX version 2.2. Note: The newest version of MSCDEX (released in February 1990) is generally available. Apple Macintosh Drive: Apple CD SC (Sony) or Toshiba. Driver: Apple CD-ROM driver. Note: The Toshiba drive requires a separate driver, which may be obtained from Toshiba. Sun Micro Drive: SUN Microsystems (Sony). Driver: SUN CD-ROM Driver. Note: There is a patch to support structured files. >the following error, when >trying to do a "ls" on its directory contents: > 'hsfs: filetype(0X8) not supported'. > The files that cause the error message are structured files. They are organized in records (fix or variable length). Applications need to retrieve additional file attributes (fix or variable length, and maximum record length) from these files in order to access the contents correctly. Unfortunately, UNIX can only handle stream files (unstructured byte stream). There is currently no application interface to access the extended file attributes and data records in a record format file. (Note: Philips is coming up with an X/Open specification (XCDR) to provide an API to access the ISO 9660 CD-ROM format Disc. It is too early to tell whether it will be approved or not). The design decision when implementing the CD-ROM file system was to ignore all record format files stored in a CD-ROM. This is obviously a mistake. The best way is at least to allow users to access these file. The following are a patch for SunOS 4.1 Sun4c (SPARCSTATION) to correct the above problem: acuraintegra# adb -w vmunix >>>> hs_parsedir+9c?X _hs_parsedir+0x9c: ba0da0ee >>>> hs_parsedir+9c?Wba0da0e6 _hs_parsedir+0x9c: 0xba0da0ee = 0xba0da0e6 >>>> hs_parsedir+14c?X _hs_parsedir+0x14c: ba0da0ee >>>> hs_parsedir+14c?Wba0da0e6 _hs_parsedir+0x14c: 0xba0da0ee = 0xba0da0e6 >>>> $q Note: you can also patch hsfs_node.o with the above patch. The patch for SunOS 4.0.3c (SPARCSTATION) is similar: hs_parsedir+9c?X _hs_parsedir+0x9c: ba0de0ee hs_parsedir+9c?Wba0de0e6 _hs_parsedir+0x9c: 0xba0de0ee = 0xba0de0e6 hs_parsedir+14c?X _hs_parsedir+0x14c: ba0de0ee hs_parsedir+14c?Wba0de0e6 _hs_parsedir+0x14c: 0xba0de0ee = 0xba0de0e6 $q The following are the patch for the sun3: adb -w hsfs_node.o hs_parsedir+56?X _hs_parsedir+0x56: ee6612 hs_parsedir+56?We66612 _hs_parsedir+0x56: 0xee6612 = 0xe66612 hs_parsedir+e4?X _hs_parsedir+0xe4: ee6612 hs_parsedir+e4?We66612 _hs_parsedir+0xe4: 0xee6612 = 0xe66612 $q 6. Who to Contact for Information For questions about how to read the CD-ROM: Jason J. Hyon MS 525-3610 Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena, CA 91109 818-306-6054 Electronic mail addresses: SPAN: JPLPDS::JHYON Internet: jhyon@jplpds.jpl.nasa.gov NASAmail: JHYON For questions concerning the Galileo REDR product: Lisa Wainio MS 168-514 Jet Propulsion Laboratory 4800 Oak Grove Drive Pasadena, CA 91109 818-354-5398